• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    DOUBLE AXLE PLATFORM FOR USE ON AN UNIPROVED AERIAL VEHICLE, TRIPLE AXLE PLATFORM FOR USE ON AN UNIPROVED AERIAL VEHICLE AND MULTIPLE ROTOR AIR VEHICLE. The present invention discloses a dual-axis platform for use in an unmanned aerial vehicle, a triple-axis platform for use in an unmanned aerial vehicle and a multi-rotor aerial vehicle, comprising a machine frame assembly, a set of transmission and a photograph set, wherein the machine frame set comprises a first support, a second support and a third support; the transmission assembly comprises a first engine and a second engine; the platform further comprises a connecting element with two free ends, respectively rotatably arranged on two open ends of the second support; the connecting element is fixed to the third support by means of a fastener. In the present invention, the free ends of the connecting element are pivotally arranged on the second support to together form a parallelogram connection. When the second support rotates a certain angle in relation to the third support, the connecting element rotates the same angle with it, without affecting the (...).
    公开号:BR112014005378B1
    申请号:R112014005378-2
    申请日:2011-09-15
    公开日:2020-12-08
    发明作者:Tao Wang
    申请人:Sz Dji Osmo Technology Co., Ltd；
    IPC主号:
    专利说明:

    Field of invention
    [001] The present invention relates to the field of unmanned aerial vehicles and, in particular, a dual-axis platform for use in an unmanned aerial vehicle and a triple-axis platform for use in an unmanned aerial vehicle and a multi-axis aircraft for aerial photography or surveillance purposes. Fundamentals of the invention
    [002] Unmanned aerial vehicles are characterized by small size, light weight, low cost, flexible operation and high security performance and can be widely used in various areas such as aerial photography, surveillance, search and rescue, and resource exploration . Since the unmanned aerial vehicle itself suffers from high frequency vibration and low frequency distortion, it needs to be equipped with an aerial photography stabilization platform to load a video camera or camera to achieve stable aerial photography. Aerial photography stabilization platforms mainly detect changes in posture of the video camera or camera through an electronic device and control reverse compensation of an orientation engine to stabilize the video camera or camera.
    [003] In the state of the art, most platforms use mechanical gear drive to achieve rotation of double axis, triple axis or multiple axis of the video camera or camera. Since there is always a delay in the transmission of the gear, when the unmanned aerial vehicle is in various postures, such as turning, hovering, climbing or tilting, the platform has a long response time the guidance engine adjusts slowly, so that it is very difficult for the camcorder or camera to adjust the angle in a timely manner to adapt to posture adjustments of the unmanned aerial vehicle, which affects the image quality of the video camera or camera. However, most dual-axle or triple-axle platforms for unmanned aerial vehicles are not stable enough, the camera shakes abruptly during changes in posture of the unmanned aerial vehicle and the influence exerted by low-frequency shaking or body tilt the motor cannot be eliminated, so it is very difficult to shoot high quality images that can meet professional needs. Summary of the Invention
    [004] To solve the technical problem that poor stability of the unmanned aerial vehicle in the prior art reduces the photograph quality of a photography set, the present invention provides a dual axis platform for use in an unmanned aerial vehicle, a platform triple-axis for use in an unmanned aerial vehicle and a multi-axis aircraft.
    [005] The technical solution adopted by the present invention to solve the technical problem is as follows: a dual-axis platform for use in an unmanned aerial vehicle is built and characterized by comprising: a set of machine structure, a set of transmission and a photography set, the machine frame assembly comprises a first support, a second support and a third support, the photography set is attached to the first support, the first support is rotatably arranged with the second support, and the second support it is rotated with the third support; the transmission assembly comprises a first motor and a second motor, in which the first motor drives the first support to rotate around its axis of rotation in relation to the second support and the second motor drives the second support to rotate around its axis of rotation in relation to the third support; the dual-axis platform further comprises a connecting element having two free ends which are respectively rotatable at two open ends of the second support, the connecting element being fixed to the third support via a fastener.
    [006] The present invention provides a dual axle platform for use in an unmanned aerial vehicle, specifically wherein the connecting element comprises a first connection, a second connection and a third connection to which they are hinged sequentially; a free end of the first connection is pivotally arranged at one end of the second support, a free end of the third connection is pivotally arranged at the other end of the second support; the intermediate portion of the second connection is positioned on the third support via the fastener.
    [007] The present invention provides a dual axle platform for use in an unmanned aerial vehicle still comprising a mounting arm, one end of the mounting arm is attached to the third support, the other end is provided with an adapted positioning hole for the fastener and the second connection is fixed to the mounting arm via the fastener.
    [008] The present invention provides a dual axle platform for use in an unmanned aerial vehicle. Preferably, a stator of the first motor is attached to the first support and a rotor of the first motor is fixedly arranged with the second support; a stator of the second motor is fixed on the third support and a rotor of the second motor is fixedly arranged with the second support.
    [009] The present invention further provides a dual-axis platform for use in an unmanned aerial vehicle. Preferably, the center of gravity of the first support and the photography set falls on the axis of rotation of the first support.
    [0010] The present invention provides a dual axle platform for use in an unmanned aerial vehicle. Preferably, the center of gravity of the first support, the second support and the photography set as a whole falls on an axis of rotation of the second support.
    [0011] The present invention provides a triple axle platform for use in an unmanned aerial vehicle comprising a machine frame assembly, a transmission assembly and a photograph feature set wherein: the machine frame assembly comprises a first support, a second support and a third support, the photography set is attached to the first support, the first support is rotatably arranged with the second support and the second support is rotatably arranged with the third support; the transmission assembly comprises a first engine, a second engine and a third engine, where the first engine drives the first support to rotate around its axis of rotation in relation to the second support, the second engine drives the second support to rotate around its axis of rotation in relation to the third support, and the third motor drives the third support to rotate about its axis of rotation Z in relation to a connection structure; the triple axis platform further comprises a connecting element having two free ends which are, respectively, rotatably arranged at two open ends of the second support, the connecting element being fixed to the third support via a fastener.
    [0012] The present invention provides a triple axle platform for use in an unmanned aerial vehicle. Specifically, the connecting element comprises a first connection, a second connection and a third connection which are jointly connected sequentially; a free end of the first connection is pivotally arranged at one end of the second support, a free end of the third connection is pivotally arranged at the other end of the second support; the intermediate portion of the second connection is positioned on the third support via the fastener.
    [0013] The present invention provides a triple axle platform for use in an unmanned aerial vehicle still comprising a mounting arm, one end of the mounting arm is attached to the third bracket, the other end is provided with an adapted positioning hole for the fastener and the second connection is fixed to the mounting arm via the fastener.
    [0014] The present invention further provides a multi-rotor aircraft comprising the triple-axis platform for use in an unmanned aerial vehicle, a multi-rotor assembly structure and a circuit device, the multi-rotor assembly structure comprises a base, at least three support arms inserted and fixed on the base, a rotor element fixed on one end of each support arm and a plurality of support structures that are arranged extending along the base and used for positioning externally; the triple axle platform for use in an unmanned aerial vehicle is fixedly arranged on the base by the connection structure.
    [0015] The present invention further provides a platform for use in an unmanned aerial vehicle comprising a set of machine frame, a set of transmission and a set of photograph, characterized in that: the set of machine frame comprises a first support , a second support, a third support and a connecting element, the photography set is attached to the first support, the first support is rotatably arranged with the second support, the second support is rotatably arranged with the third support and the connecting element and the second support form a four-link mechanism;
    [0016] The transmission set comprises a first motor and a fourth motor, in which the first motor directly drives the first support to rotate in relation to the second support, and the fourth motor directly drives the connecting element to bring the second support to rotate in relation to the third support.
    [0017] The present invention provides a platform for use in an unmanned aerial vehicle. Specifically, the connecting element comprises a first connection, a second connection and a third connection which are hingedly connected in such an order; a free end of the first connection is pivotally arranged at one end of the second support, a free end of the third connection is pivotally arranged at the other end of the second support; the second connection is positioned on the third support via the fourth motor.
    [0018] The present invention provides a platform for use in an unmanned aerial vehicle still comprising a mounting arm, one end of the mounting arm is attached to the third bracket, the other end is fixedly connected to a stator of the fourth motor ; a fourth motor rotor is fixedly connected to the second connection; or one end of the mounting arm is attached to the third support, the other end is fixedly connected to the rotor of the fourth motor; the fourth motor stator is fixedly connected to the second connection.
    [0019] The present invention provides a platform for use in an unmanned aerial vehicle. In addition, the second support is in an open "U" shape, a free end of the first connection and a free end of the third connection are, respectively, rotatably arranged on two open ends of the second support.
    [0020] The present invention provides a platform for use in an unmanned aerial vehicle. In addition, the machine frame assembly still comprises a connection structure for external mounting, the transmission assembly still comprises a third motor; the third motor drives the third support to rotate in relation to the connection structure.
    [0021] The present invention provides a platform for use in an unmanned aerial vehicle. In addition, the transmission assembly also comprises a second motor that directly drives the second support to rotate in relation to the third support.
    [0022] The present invention can achieve the following advantages: the free ends of the connecting element are hingedly arranged on the second support to together form a parallelogram. According to the principles of the parallelogram, when the second support rotates a certain angle in relation to the third support, the connecting element rotates the same angle with it, without interfering with the movement path of the second support; meanwhile the connecting element is attached to the third support via a fastener, the connecting element provides effective support for the two open ends of the second support in a vertical direction, increases the load and stiffness of the second support and effectively reduces the amount deformation when the second support has a greater load; meanwhile, it reduces the weight of the second support and decreases the diameter of the second motor. Brief Description of Drawings
    [0023] The present invention will be further exemplified with reference to the figures and modalities. In which,
    [0024] Fig. 1 is a schematic structural view of a dual-axis platform for use in an unmanned aerial vehicle according to a first embodiment of the present invention;
    [0025] Fig. 2 is an exploded view 1 of a triple-axis platform for use in an unmanned aerial vehicle according to a second embodiment of the present invention;
    [0026] Fig. 3 is an exploded view 2 of a triple-axis platform for use in an unmanned aerial vehicle according to a second embodiment of the present invention;
    [0027] Fig. 4 is an exploded view 2 of a triple-axis platform for use in an unmanned aerial vehicle according to a second embodiment of the present invention;
    [0028] Fig. 5 is a schematic structural view 1 of a triple-axis platform for use in an unmanned aerial vehicle according to a second embodiment of the present invention;
    [0029] Fig. 6 is a schematic structural view 2 of a triple-axis platform for use in an unmanned aerial vehicle according to a second embodiment of the present invention;
    [0030] Fig. 7 is an exploded view 1 of a multi-rotor aircraft according to a third embodiment of the present invention;
    [0031] Fig. 8 is an exploded view 2 of a multi-rotor aircraft according to a third embodiment of the present invention;
    [0032] Fig. 9 is a schematic structural view 1 of a multi-rotor aircraft according to a third embodiment of the present invention;
    [0033] Fig. 10 is a schematic structural view 2 of a multi-rotor aircraft according to a third embodiment of the present invention;
    [0034] Fig. 11 is a schematic structural view 1 of a platform for use in an unmanned aerial vehicle according to a fourth embodiment of the present invention;
    [0035] Fig. 12 is a schematic structural view 2 of a platform for use in an unmanned aerial vehicle according to a fourth embodiment of the present invention;
    [0036] Fig. 13 is a schematic structural view 3 of a platform for use in an unmanned aerial vehicle according to a fourth embodiment of the present invention;
    [0037] Fig. 14 is a schematic structural view 4 of a platform for use in an unmanned aerial vehicle in accordance with a fourth embodiment of the present invention;
    Detailed Description of Preferred Modalities
    [0038] Specific modalities of the present invention will be described in detail with reference to the figures to make the technical characteristics, objects and effects of the present invention clearer for understanding. Mode 1
    [0039] In an embodiment as shown in Fig. 1, the present invention provides a dual axis platform for an unmanned aerial vehicle comprising a machine frame assembly, a transmission assembly and a photography assembly 1. The assembly of The machine structure comprises a first support 2, a second support 4 and a third support 6, the photography set 1 is attached to the first support 2, the first support 2 is rotatably arranged with the second support 4 and the second support4is rotatable with the third support 6. Here, the shape of the photography set 1 is not limited to a square shape, as shown in Fig. 1, and it can be circular, oval or in other shapes, as is commonly seen in the market. The transmission assembly comprises a first motor 3 and a second motor 5, in which the first motor 3 drives the first support 2 to rotate about its axis of rotation in relation to the second support 4, and the second motor 5 drives the second support 4 to rotate around its axis of rotation in relation to the third support 6. A power supply provided in the present mode is a motor. A small motor as used has the following advantages: (1) the motor starts directly with less energy consumption, thereby saving energy and achieving protection of the environment; (2) the engine has a shorter response time and can be adjusted quickly and in a timely manner to adapt to various flight postures of the unmanned aerial vehicle, in order to improve the photography stability of the photography set. The two free ends of the second support 4 extend outwardly, the first support 2 and the photograph set 1 are integrally rotatably arranged between the two free ends; during the rotation of the second support 4 driven by the second motor 5, the longer the length of the two free ends of the second support 4 is, the farther the center of gravity of the first support 2 and the photography set 1 will be from a positioning point of the second support 4, so that the agitation of the second support 4 is stronger and the photography set 1 is less stable. In order to reduce the jolt of the second support 4 and improve stability, as shown in Fig. 1, the platform further comprises a connecting element 12, the two free ends of which are respectively rotatably arranged on two open ends of the second support 4, the connecting element 12 being fixed to the third support 6 via a fastener 13. In the present invention, the free ends of the connecting element 12 are pivotally arranged on the second support 4 to together form a parallelogram. According to the principles of the parallelogram, when the second support 4 rotates a certain angle in relation to the third support 6, the connecting element 12 rotates the same angle with it, without interfering with the movement path of the second support 4; meanwhile the connecting element 12 is fixed to the third support 6 via a fastener 13, thereby providing support and positioning of the two open ends of the second support 4 and increasing the stability of the second support 4. The free ends of the connecting element 12 are articulated on the second support 4 so that together they form a parallelogram. According to the principles of the parallelogram, when the second support 4 rotates a certain angle in relation to the third support 6, the connecting element 12 rotates the same angle with it, without interfering with the movement path of the second support 4; meanwhile the connecting element 12 is attached to the third support 6 via a fastener 13, and the connecting element 12 provides effective support for the two open ends of the second support 4 in a vertical direction, increases the load and stiffness of the second support 4 and effectively reduces the amount of deformation when the second support 4 has a greater load and, in the meantime, reduces the self weight of the second support 4 with respect to the production process and decreases a diameter of the second motor 5.
    [0040] On the basis of the above technical solution, specifically, the connecting element 12 comprises a first connection 121, a second connection 122 and a third connection 123 which are pivotally connected sequentially; a free end of the first connection 121 is pivotally arranged at one end of the second support 4, a free end of the third connection 123 is pivotally arranged at the other end of the second support 4, so that the connecting element 12 and the second support together form a parallelogram. In order to position the parallelogram and improve its stability, an intermediate portion of the second connection 122 is positioned on the third support 6 via the fastener 13.
    [0041] Preferably, in order to allow a fixed connection between the connecting element 12 and the third support 6, as shown in Fig. 1, a mounting arm 10 is also included, in which one end of the mounting arm 10 is attached to the third support 6, the other end is provided with a positioning hole 11 adapted for the fastener 13, and the second connection 122 is fixed to the mounting arm 10 via the fastener 13.
    [0042] In order to facilitate the motor to adjust its rotation angle in a timely manner, preferably an axis of rotation X of the first support 2 is arranged perpendicular to an axis of rotation Y of the second support 4. A stator of the first motor 3 is fixed on the first support 2 and a rotor of the first motor 3 is fixedly arranged with the second support 4, and the first motor 3 directly drives the second support 4 to bring the first support 2 to rotate in relation to the second support 4. A stator of the second motor5 is fixed on the third support 6 and a rotor of the second motor5 is arranged in a fixed manner with the second support 4, and the second motor 5 directly drives the second support 4 to bring the second support 4 to rotate in relation to the third support 6.
    [0043] Furthermore, in order to increase the stability during the photograph of the photograph set 1, a center of gravity of the first photograph 2 along with the photograph photograph 1 falls on the axis of rotation of the first photograph 2. It is concluded by mechanical analysis that when the center of gravity of the first support 2 and of the photography set 1 falls on the rotation axis X of the first support 2, the first support 2 rotates to any angle and does not generate moment of rotation, that is, the first support 2 it will not bounce back and forth due to the moment and, thus, the stability of the photo set 1 during rotation is increased. When the unmanned aerial vehicle operates steadily, that is, when it is not necessary to start the engine, the first support 2 and the photo set 1 are also in a dynamically balanced state.
    [0044] Likewise, it was concluded by mechanical analysis that, in order to increase stability and prevent the entire set rotating around the Y axis, generating the moment of rotation, preferably a center of gravity of the first support 2, the second support 4 and the photo set 1 as a whole falls on the axis of rotation of the second support 4, as shown in Fig. 1.
    [0045] On the basis of the above technical solution, preferably, the platform provided by the present modality is adapted for a small unmanned aerial vehicle for aerial photography and surveillance and the first engine 3, the second engine 5 are preferably each DC engines brushless. The advantages of using the brushless DC motor in the unmanned aerial vehicle are: (1) electronic switching instead of conventional mechanical switching, allows for reliable performance, permanent wear resistance, lower failure rate and a long service life about six times longer than a brush motor; (2) the brushless DC motor is a static motor with a small unloaded current; (3) high efficiency; (4) small size.
    [0046] In addition, the transmission assembly also comprises a circuit board, an inertia sensor, a microprocessor and a signal line, in which the inertia sensor comprises a gyroscope to detect an angular velocity signal and an accelerometer for detecting an acceleration signal, the microprocessor controls positive rotation, reverse rotation and a rotation speed magnitude of the first motor 3 and the second motor 5 according to the angular speed signal and the acceleration signal. The inertia sensor is adjusted to monitor unmanned aerial vehicle postures opportunely and dynamically, to control position and reverse rotation of the engine quickly and opportunely, in order to improve the photography stability of the photography set. Mode 2
    [0047] In another embodiment as shown in Figs.2-6, the present invention provides a triple axle platform for use in an unmanned aerial vehicle comprising a machine frame assembly, a transmission assembly and a photography assembly 1 As shown in Fig. 2, the machine frame assembly comprises a first support 2, a second support 4, a third support 6 and a connecting structure 8 for external mounting. The photo set 1 is attached to the first support 2. To allow the photo set 1 to rotate along the X axis (the axis of rotation of the first support 2), the first support 2 is rotatably arranged with the second support 4. Such a rotational structure can achieve elevation or arc rotation of the photo set 1. In order to adapt to the left or right tilt of the unmanned aerial vehicle during the flight, the photo set 1 rotates to the right or to the left. correspondingly to ensure the stability of the photograph or footage. As shown in Figs. 5 and 6, the second support 4 is rotatably arranged with the third support 6, the left or right rotation of the second support 4 brings the first support 2 and the photograph set 1 to rotate completely. To allow the circumferential rotation of the photography set 1 to perform rotary photography in a 360 degree range, the connection structure 8 is fixed externally to a helicopter or a multi-rotor plane and the third support 6 can rotate about an axis Z in relation to the connection structure 8. The transmission assembly comprises a first motor 3, a second motor 5 and a third motor 7, in which the first motor 3 drives the first support 2 to rotate about its axis of rotation in in relation to the second support 4, the second motor 5 drives the second support 4 to rotate about its axis of rotation in relation to the third support 6, and the third motor 7 drives the third support 6 to rotate about its axis of rotation Z in relation to the connection structure 8. A power supply provided in this mode is a motor. A small motor as used has the following advantages: (1) the motor starts directly with less energy consumption, thereby saving energy and achieving environmental protection; (2) the engine has a shorter response time and can timely and quickly adjust to adapt to various flight postures of the unmanned aerial vehicle, in order to improve the photography stability of the photography set. As shown in Fig. 2, Fig. 3 and Fig. 4, two free ends of the second support 4 extend outwardly, the first support 2 and the photography set 1 are integrally rotatably arranged between the two free ends; during the rotation of the second support 4 driven by the second motor 5, the longer the length of the two free ends of the second support 4 is, the farther the center of gravity of the first support 2 and the photography set 1 will be from a positioning point of the second support 4, so that the agitation of the second support 4 is stronger and the photography set 1 is less stable. In order to reduce the jolt of the second support 4 and improve stability, as shown in Fig. 2, Fig. 3 and Fig. 4, the platform further comprises a connecting element 12, the two free ends of which are respectively rotatably arranged in two open ends of the second support 4, the connecting element 12 being fixed to the third support 6 via a fastener 13. In the present invention, the free ends of the connecting element 12 are pivotally arranged on the second support 4 to together form a parallelogram. According to the principles of the parallelogram, when the second support 4 rotates a certain angle in relation to the third support 6, the connecting element 12 rotates the same angle with it, without interfering with the movement path of the second support 4; meanwhile the connecting element 12 is fixed to the third support 6 via the fastener 13, thereby providing support and positioning for the two open ends of the second support 4 and increasing the stability of the second support 4. The free ends of the connecting element 12 they are hingedly arranged on the second support 4 so that together they form a parallelogram. According to the principles of the parallelogram, when the second support 4 rotates a certain angle in relation to the third support 6, the connecting element 12 rotates the same angle with it, without interfering with the movement path of the second support 4; meanwhile the connecting element 12 is fixed to the third support 6 via the fastener 13, and the connecting element 12 provides effective support for the two open ends of the second support 4 in a vertical direction, increases the load and stiffness of the second support 4 and effectively reduces the amount of deformation when the second support 4 has a greater load and, in the meantime, reduces the self weight of the second support 4 with respect to the production process and decreases a diameter of the second motor 5.
    [0048] On the basis of the above technical solution, specifically as shown in Fig. 2, the connecting element 12 comprises a first connection 121, a second connection 122 and a third connection 123 which are hinged sequentially; a free end of the first connection 121 is pivotally arranged at one end of the second support 4, a free end of the third connection 123 is pivotally arranged at the other end of the second support 4, so that the connecting element 12 and the second support 4 in together form a parallelogram. In order to position the parallelogram and improve its stability, an intermediate portion of the second connection 122 is positioned on the third support 6 via the fastener 13.
    [0049] Preferably, in order to allow a fixed connection between the connecting element 12 and the third support 6, as shown in Fig. 2, Fig. 3 and Fig. 4, it includes a mounting arm 10, an end the mounting arm 10 is attached to the third support 6, the other end is provided with a positioning hole 11 adapted for the fastener 13, and the second connection 122 is fixed to the mounting arm 10 via the fastener 13.
    [0050] Preferably, an axis of rotation X of the first support 2, an axis of rotation Y of the second support 4 and an axis of rotation Z of the third support 6 are arranged perpendicular to each other. As shown in Fig. 3 and Fig. 4, a stator of the first motor 3 is attached to the first support 2 and a rotor of the first motor 3 is fixedly arranged with the second support 4 and the first motor 3 directly drives the second support 4 to bring the first support 2 to rotate with respect to the second support 4. As shown in Fig. 5 and Fig. 6, a stator of the second motor 5 is attached to the third support 6 and a rotor of the second motor 5 is arranged so fixed with the second support 4, and the second motor 5 directly drives the second support 4 to bring the second support 4 to rotate in relation to the third support 6. As shown in Fig. 5 and Fig. 6, a stator of the second motor 7 is attached to the connection structure 8, a rotor is fixedly connected to the third support 6 and the third motor 7 directly drives the third support 6 to bring the third support 6 to rotate around the Z axis in relation to the connection structure 8 A positioning structure 9 is fixedly arranged in the connection structure 8 to position the third motor 7.
    [0051] In addition, in order to increase the stability during the photograph of the photograph set 1, a center of gravity of the first photograph 2 and of the photograph photograph 1 falls on the axis of rotation of the first photograph 2. It is concluded by mechanical analysis that , when the center of gravity of the first support 2 and of the photography set 1 falls on the axis of rotation X of the first support 2, the first support 2 rotates to any angle and does not generate moment of rotation, that is, the first support 2 does not it will bounce back and forth due to the moment and, thus, the stability of the photo set 1 during rotation is increased. When the unmanned aerial vehicle operates steadily, that is, when it is not necessary to start the engine, the first support 2 and the photography set 1 are also in a state of dynamic equilibrium.
    [0052] Likewise, it was concluded by mechanical analysis that, in order to increase stability and prevent the entire assembly rotating around the Y axis, generating the moment of rotation, preferably a center of gravity of the first support 2, the second support 4 and the photo set 1 as a whole falls on the axis of rotation of the second support 4, as shown in Fig. 1.
    [0053] Likewise, in order to prevent an entire set rotating around the Y axis generating the moment of rotation, a center of gravity of the first support 2, the second support 4, the third support 6 and the photography set 1 as a whole falls on the axis of rotation Z of the third support 6, as shown in Fig. 5 and Fig. 6.
    [0054] On the basis of the above technical solution, preferably, the platform provided by the present modality is adapted for a small unmanned aerial vehicle for aerial photography and surveillance and the first engine 3 and the second engine 5 are preferably DC engines brushless. The advantages of using the brushless DC motor in the unmanned aerial vehicle are: (1) electronic switching instead of conventional mechanical switching, achieves reliable performance, permanent wear resistance, lower failure rate and a long service life about six times longer than a brush motor; (2) the brushless DC motor is a static motor with a small unloaded current; (3) high efficiency; (4) a small size.
    [0055] In addition, the transmission assembly still comprises a circuit board, an inertia sensor, a microprocessor and a signal line, in which the inertia sensor comprises a gyroscope to detect an angular velocity signal and an accelerometer for detecting an acceleration signal, the microprocessor controls positive rotation, reverse rotation and a rotation speed magnitude of the first motor 3 and the second motor 5 according to the angular speed signal and the acceleration signal. The inertia sensor is adjusted to monitor postures of the unmanned aerial vehicle opportunely and dynamically, and to control position and reverse rotation of the engine quickly and opportunely, in order to improve the photography stability of the photography set. Mode 3
    [0056] In an additional modality as shown in Fig. 7-Fig. 10, the present invention provides a multi-rotor aircraft comprising the triple-axis platform 100 for use in an unmanned aerial vehicle, a multi-rotor assembly structure 200 and a circuit device. The multi-rotor mounting structure 200 comprises a base 21, at least three support arms 22 inserted and attached to the base 21, a rotor element 23 attached to one end of the support arm 22 and a plurality of support structures 24 as which are arranged extending along the base 21 and used for positioning externally. Visibly, the number of the support arms 22 is not limited to three as shown in the figures, and it can be four, six or eight. The support arms 22 can be fixed to the base 21 by insertion connection, welding, threaded connection or riveting. The triple axle platform 100 for use in an unmanned aerial vehicle is fixedly arranged on the base 21 through the connection structure 8.
    [0057] Visibly, the triple-axis platform 100 of the multi-rotor aircraft employs the structure of the triple-axis platform for use in an unmanned aerial vehicle provided in mode 2, which is not detailed here. For particularities, please refer to the previous representations. Mode 4
    [0058] In an embodiment shown in Fig. 11, the present invention provides a platform for use in an unmanned aerial vehicle. The platform is a dual axis platform comprising a machine frame assembly, a transmission assembly and a photograph assembly 1. The machine structure assembly comprises a first support 2, a second support 4, a third support 6 and a connecting element 12, the photography set is attached to the first support 2, the first support 2 is rotatably arranged with the second support 4, the second support 4 is rotatably arranged with the third support 6 and the connecting element 12 and the second support 4 form a four-link mechanism. The transmission set comprises a first engine 3 and a fourth engine 25, in which the first engine 3 directly drives the first support 2 to rotate in relation to the second support 4. Unlike Mode 1, Mode 2, Mode 3, fastener 13 is replaced by the fourth motor 25 that directly drives the connecting element 12 to bring the second support 4 to rotate in relation to the third support 6, instead of the fact that the second motor 25 directly drives the fourth support 4 as in Mode 1, Mode 2 and Mode 3. In the present invention, the connecting element 12 and the second support 4 form a mechanism of the four connections, the fourth motor 25 that directly drives the connecting element 12 to bring the second support 4 to rotate in relation to the third support 6, the connecting element 12 and the second support 4 rotate the same angle without interfering with the movement path of the second support4; Meanwhile, the connection element12 provides effective support for the two open ends of the second support 4 in a vertical direction, increases the load and stiffness of the second support 4, effectively reduces the amount of deformation and decreases the self-weight of the second support 4.
    [0059] In an additional embodiment as shown in Fig. 12, the present invention provides a triple axis platform. Unlike the dual axle platform, as described in Fig. 11, the machine frame assembly of the platform for use in the unmanned aerial vehicle still comprises a connecting structure 8 for external mounting, the transmission assembly still comprises a third engine 7 ; the third motor 7 drives the third support 6 to rotate in relation to the connection structure 8. To allow the circumferential rotation of the photography set 1 to perform rotary photography in a 360 degree range, the connection structure 8 is fixed externally to a helicopter or a multi-rotor plane and the third support 6 can rotate about a Z axis in relation to the connection structure 8.
    [0060] In an additional embodiment as shown in Fig. 13, the present invention provides a dual-axis platform for use in an unmanned aerial vehicle. Unlike the platform, as described in Fig. 11, the transmission joint of the platform for use in an unmanned aerial vehicle still comprises a second engine 5 that directly drives the second support 4 to stop in relation to the third support 6. The second engine 5 can serve as an auxiliary power source and drive the second support 4 in cooperation with the fourth motor 25. Since the connecting element 12 and the second support 4 form a mechanism of the four connections, the second motor 5 and the fourth motor 24 are used in cooperation to synchronously drive the second support 4 to rotate. It can be understood that the second motor 5 and the fourth motor 25 individually can drive the second support 5 to rotate.
    [0061] In an additional embodiment as shown in Fig. 14, the present invention provides a triple axle platform for use in an unmanned aerial vehicle. Unlike the platform as described in Fig. 13, the machine frame assembly of the platform for use in the unmanned aerial vehicle still comprises a connecting structure 8 for external mounting, the transmission assembly still comprises a third motor 7; the third motor 7 drives the third support 6 to rotate in relation to the connection structure 8. To allow the circumferential rotation of the photography set 1 to perform rotary photography in a 360 degree range, the connection structure 8 is fixed externally to a helicopter or a multi-rotor plane and the third support 6 can rotate about a Z axis in relation to the connection structure 8.
    [0062] On the Modality 4 platform of the present invention, the connecting element 12 and the second support 4 form a mechanism of the four connections, the fourth motor 25 directly drives the connecting element 12 to bring the second support 4 to rotate in relation to the third support 6, the connecting element 12 and the second support 4 rotate the same angle without interfering with the movement path of the second support4; Meanwhile, the connection element12 provides an effective support for the two open ends of the second support 4 in a vertical direction, increases the load and stiffness of the second support 4, effectively reduces the amount of deformation and decreases the proper weight of the second support 4. Meanwhile, the engine, as the source of energy, is directly connected to the machine structure set of the platform, thereby consuming less energy and saving electricity; meanwhile, the motor drive can achieve indefinitely variable adjustment, the motor has a shorter response time of action and can quickly start, stop or adjust the magnitude of the rotation speed in a timely manner to adapt to various flight postures of the non-vehicle manned in order to improve the photography stability of the photography set.
    [0063] The above describes only preferred embodiments of the present invention with reference to the figures. The scope of protection of the present invention is not limited to the specific modalities above. The specific modalities above are only illustrative, not restrictive. As suggested by the present invention, those skilled in the art, without departing from the essence of the present invention and the scope defined by the appended claims, can contemplate many forms, all of which fall within the scope of the present invention.
    权利要求:
    Claims (15)
    [0001]
    1. Dual-axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, comprising a machine frame assembly and a transmission assembly in which: the machine frame assembly comprises a first support (2) , a second support (4), a third support (6) and a connection structure (8) for external mounting, in which the first support (2) is configured to support a photography set (1) attached to it, and wherein the first support (2) is rotatably arranged with the second support (4), and the second support (4) is rotatably arranged with the third support (6); and the transmission assembly comprises a first engine (3) and a second engine (5) and a third engine (7); characterized by the fact that the first motor (3) directly drives the first support (2) to rotate in relation to the second support (4), the second motor (5) directly drives the second support (4) to rotate in relation to the third support (6), and the third motor (7) drives the third support (6) to rotate in relation to the connection structure (8); and (i) a stator of the first motor (3) is fixed to the first support (2), and a rotor of the first motor (3) is fixed to the second support (4); and (11) a stator of the second motor (5) is fixed on the third support (6), and a rotor of the second motor (5) is fixedly fixed with the second support (4).
    [0002]
    2. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 1, characterized by the fact that it still comprises a connecting element (12) connecting an open end of the second support (4) the third support (6).
    [0003]
    3. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle according to claim 2, characterized in that the connecting element (12) comprises a first connection (121), a second connection (122) and a third connection (123) which are connected in an articulated manner sequentially; a free end of the first connection (121) is pivotally arranged at one end of the second support (4), a free end of the third connection (123) is pivotally arranged at the other end of the second support (4); an intermediate portion of the second connection (122) is positioned on the third support (6) via the fastener (13).
    [0004]
    4. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 3, characterized by the fact that it still comprises a mounting arm (10), in which one end of the mounting arm (10) is attached to the third support (6) and the other end is provided with a positioning hole (11) adapted for the fastener (13), and where the second connection (122) is attached to the mounting arm assembly (10) through the fastener (13).
    [0005]
    5. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 2, characterized by the fact that: the transmission set also comprises a fourth engine (25), in which the fourth motor (25) directly drives the connecting element (12) to thereby bring the second support (4) in rotation with respect to the third support (6).
    [0006]
    6. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 5, characterized by the fact that the connecting member (12) comprises a first connection (121), a second connection (122) and a third connection (123) hinged sequentially; a free end of the first connection (121) is hinged at one end of the second support (4), a free end of the third connection (123) is hingedly arranged at one end of the second support (4); the second connection (122) is positioned on the third support (6) through the fourth motor (25).
    [0007]
    7. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle according to claim 6, characterized by the fact that it also comprises a mounting arm (10), in which one end of the mounting arm (10) is fixed on the third support (6) and the other end is fixedly connected to a stator of the fourth motor (25); a fourth motor rotor (25) is fixedly connected to the second connection (122); or, one end of the mounting arm (10) is fixedly arranged on the third support (6) and the other end is fixedly connected to the rotor of the fourth motor (25); the fourth motor stator (25) is fixedly connected to the second connection (122).
    [0008]
    8. Dual axis pan / tilt / zoom (PTZ), for use in an unmanned aerial vehicle according to claim 6, characterized by the fact that the second support (4) has an open "U" shape and a the free end of the first connection (121) and a free end of the third connection (123) are respectively rotatably arranged on the two open ends of the second support (4).
    [0009]
    9. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 1, characterized by the fact that the center of gravity of the first support (2) and the photography set (1) falls on an axis of rotation of the first support (2).
    [0010]
    10. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 1, characterized by the fact that the center of gravity of the first support (2), the second support ( 4) and the photography set (1) as a whole falls on an axis of rotation of the second support (4).
    [0011]
    11. Triple axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 1, characterized by the fact that the center of gravity of the first support (2), the second support (4 ), the third support (6) and the photography set (1) as a whole fall on an axis of rotation of the third support (4).
    [0012]
    12. Triple axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 1, characterized by the fact that the transmission set also comprises an inertia sensor that monitors the vehicle's postures unmanned aerial vehicle in a timely and dynamic manner.
    [0013]
    13. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 12, characterized by the fact that the inertia sensor comprises a gyroscope to detect an angular velocity signal and a accelerometer to detect an acceleration signal.
    [0014]
    14. Dual axis pan / tilt / zoom (PTZ) for use in an unmanned aerial vehicle, according to claim 12, characterized by the fact that it still comprises a multiprocessor, in which the multiprocessor controls positive rotation, reverse rotation and a magnitude of the rotation speed of the first motor and the second motor according to a signal from the inertia sensor.
    [0015]
    15.Multi-rotor aerial vehicle, characterized by the fact that it comprises triple-axis pan / tilt / zoom (PTZ) (100) for use in an unmanned aerial vehicle as defined in any of claims 1 to 14, a multi-rotor mounting structure (200) and circuit elements, the multi-rotor mounting structure (200) comprises a base (21), at least three support arms (22) connected to the base (21), an element rotor (23) fixed at one end of each support arm (22), and a plurality of support structures (24) which are arranged extending along the base (21) and used to position externally; the triple-axis pan / tilt / zoom (PTZ) (100) for use in an unmanned aerial vehicle is fixedly arranged on the base (21) through the connection structure (8).
    类似技术:
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    BR112014005378B1|2020-12-08|dual-axis pan / tilt / zoom | for use in unmanned aerial vehicle and multi-rotor aerial vehicle
    US11140322B2|2021-10-05|Stabilizing platform
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    US9789976B2|2017-10-17|Carrier having non-orthogonal axes
    WO2018201718A1|2018-11-08|Photographic component and unmanned vehicle
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    KR20200017319A|2020-02-18|Virtual reality camera gimbal
    同族专利:
    公开号 | 公开日
    RU2572946C2|2016-01-20|
    EP2759479B1|2017-03-15|
    RU2014113930A|2015-10-20|
    CN102996983B|2016-04-06|
    JP2015523930A|2015-08-20|
    KR20140092812A|2014-07-24|
    EP2759479A4|2015-06-17|
    KR101749996B1|2017-06-22|
    AU2011376582A1|2014-04-24|
    CN202392373U|2012-08-22|
    WO2013033924A1|2013-03-14|
    AU2011376582B2|2016-12-15|
    CA2848221A1|2013-03-14|
    MX2014002730A|2014-07-09|
    CN102996983A|2013-03-27|
    EP2759479A1|2014-07-30|
    BR112014005378A2|2017-03-28|
    MX352250B|2017-11-15|
    JP6362539B2|2018-07-25|
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    法律状态:
    2018-05-02| B25A| Requested transfer of rights approved|Owner name: SZ DJI OSMO TECHNOLOGY CO., LTD. (CN) |
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-11-19| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-09-08| B09A| Decision: intention to grant|
    2020-12-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 15/09/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    CN201110268445|2011-09-09|
    CN201110268445.4|2011-09-09|
    PCT/CN2011/079703|WO2013033924A1|2011-09-09|2011-09-15|Dual-axis ball head for use in unmanned aerial vehicle, triple-axis ball head for use in unmanned aerial vehicle, and multi-rotor aerial vehicle|
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